WO2015175278A1 - Systèmes et procédés de commande d'une position de caméra dans un système robotique chirurgical - Google Patents

Systèmes et procédés de commande d'une position de caméra dans un système robotique chirurgical Download PDF

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Publication number
WO2015175278A1
WO2015175278A1 PCT/US2015/029427 US2015029427W WO2015175278A1 WO 2015175278 A1 WO2015175278 A1 WO 2015175278A1 US 2015029427 W US2015029427 W US 2015029427W WO 2015175278 A1 WO2015175278 A1 WO 2015175278A1
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WO
WIPO (PCT)
Prior art keywords
handle
camera
set point
surgical system
robotic surgical
Prior art date
Application number
PCT/US2015/029427
Other languages
English (en)
Inventor
William Peine
Original Assignee
Covidien Lp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Covidien Lp filed Critical Covidien Lp
Priority to AU2015259635A priority Critical patent/AU2015259635B2/en
Priority to JP2016567614A priority patent/JP6567558B2/ja
Priority to CN201910603607.1A priority patent/CN110236702B/zh
Priority to EP15793431.6A priority patent/EP3142594B1/fr
Priority to CN201580025333.2A priority patent/CN106456260B/zh
Priority to CA2947869A priority patent/CA2947869C/fr
Priority to US15/310,476 priority patent/US10743947B2/en
Priority to EP21207093.2A priority patent/EP3973912A1/fr
Publication of WO2015175278A1 publication Critical patent/WO2015175278A1/fr
Priority to US16/996,236 priority patent/US11529202B2/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention concerne un système robotique chirurgical. Ledit système robotique chirurgical comprend au moins un bras de robot, une caméra, et une console. Ladite console comprend une première poignée, une seconde poignée, et un commutateur de sélection conçu pour sélectionner un mode de commande robotique et un mode de commande de caméra. Dans ce système, la première poignée ou la seconde poignée commande le ou les bras de robot dans le mode de commande robotique, et la première poignée et la seconde poignée commandent la caméra dans le mode de commande de caméra.
PCT/US2015/029427 2014-05-15 2015-05-06 Systèmes et procédés de commande d'une position de caméra dans un système robotique chirurgical WO2015175278A1 (fr)

Priority Applications (9)

Application Number Priority Date Filing Date Title
AU2015259635A AU2015259635B2 (en) 2014-05-15 2015-05-06 Systems and methods for controlling a camera position in a surgical robotic system
JP2016567614A JP6567558B2 (ja) 2014-05-15 2015-05-06 外科手術ロボットシステムにおいてカメラ位置を制御するためのシステムおよび方法
CN201910603607.1A CN110236702B (zh) 2014-05-15 2015-05-06 用于控制手术机器人系统中的照相机位置的系统和方法
EP15793431.6A EP3142594B1 (fr) 2014-05-15 2015-05-06 Systèmes de commande d'une position de caméra dans un système robotique chirurgical
CN201580025333.2A CN106456260B (zh) 2014-05-15 2015-05-06 用于控制手术机器人系统中的照相机位置的系统和方法
CA2947869A CA2947869C (fr) 2014-05-15 2015-05-06 Systemes et procedes de commande d'une position de camera dans un systeme robotique chirurgical
US15/310,476 US10743947B2 (en) 2014-05-15 2015-05-06 Systems and methods for controlling a camera position in a surgical robotic system
EP21207093.2A EP3973912A1 (fr) 2014-05-15 2015-05-06 Systèmes et procédés pour commander la position d'une caméra dans un instrument chirurgical robotique
US16/996,236 US11529202B2 (en) 2014-05-15 2020-08-18 Systems and methods for controlling a camera position in a surgical robotic system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201461993379P 2014-05-15 2014-05-15
US61/993,379 2014-05-15

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US15/310,476 A-371-Of-International US10743947B2 (en) 2014-05-15 2015-05-06 Systems and methods for controlling a camera position in a surgical robotic system
US16/996,236 Continuation US11529202B2 (en) 2014-05-15 2020-08-18 Systems and methods for controlling a camera position in a surgical robotic system

Publications (1)

Publication Number Publication Date
WO2015175278A1 true WO2015175278A1 (fr) 2015-11-19

Family

ID=54480453

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2015/029427 WO2015175278A1 (fr) 2014-05-15 2015-05-06 Systèmes et procédés de commande d'une position de caméra dans un système robotique chirurgical

Country Status (7)

Country Link
US (2) US10743947B2 (fr)
EP (2) EP3142594B1 (fr)
JP (1) JP6567558B2 (fr)
CN (2) CN106456260B (fr)
AU (1) AU2015259635B2 (fr)
CA (1) CA2947869C (fr)
WO (1) WO2015175278A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
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WO2018118391A1 (fr) * 2016-12-19 2018-06-28 Ethicon Llc Système chirurgical robotique avec découplage sélectif de commande de mouvement
CN108697475A (zh) * 2016-03-03 2018-10-23 柯惠Lp公司 能够围绕侧倾轴线大幅旋转的用于机器人手术系统的输入装置手柄
WO2019190792A1 (fr) * 2018-03-26 2019-10-03 Covidien Lp Ensembles de commande par télémentorat pour systèmes chirurgicaux robotiques
EP3678574A4 (fr) * 2017-09-08 2021-10-06 Covidien LP Mode de commande d'instrument à haute précision pour systèmes chirurgicaux robotiques

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EP3142594B1 (fr) 2014-05-15 2022-07-20 Covidien LP Systèmes de commande d'une position de caméra dans un système robotique chirurgical
EP3551117A1 (fr) * 2016-12-07 2019-10-16 Koninklijke Philips N.V. Mise à l'échelle du déplacement guidé par imagerie pour commande de robot
US10742865B2 (en) * 2017-04-14 2020-08-11 International Business Machines Corporation Configuring cognitive robot vision
US11628022B2 (en) * 2017-09-05 2023-04-18 Covidien Lp Collision handling algorithms for robotic surgical systems
EP3678582A4 (fr) * 2017-09-05 2021-06-02 Covidien LP Commande de caméra pour systèmes robotiques chirurgicaux
JP7115493B2 (ja) * 2017-11-01 2022-08-09 ソニーグループ株式会社 手術アームシステム及び手術アーム制御システム
US20210137624A1 (en) * 2019-07-16 2021-05-13 Transenterix Surgical, Inc. Dynamic scaling of surgical manipulator motion based on surgeon stress parameters
US11751959B2 (en) * 2019-07-16 2023-09-12 Asensus Surgical Us, Inc. Dynamic scaling for a robotic surgical system
CN111067624B (zh) * 2019-12-25 2021-08-17 四川安雅仕健康管理有限公司 一种中远程遥控操作的介入手术机器人装置
JPWO2023277066A1 (fr) * 2021-06-30 2023-01-05
WO2023022257A1 (fr) 2021-08-19 2023-02-23 한국로봇융합연구원 Système et procédé de commande de robot de support de caméra de laparoscope
WO2023114427A1 (fr) * 2021-12-17 2023-06-22 Intuitive Surgical Operations, Inc. Commande basée sur la force d'un objet virtuel affiché par un système médical assisté par ordinateur
JP2024036816A (ja) * 2022-09-06 2024-03-18 川崎重工業株式会社 手術支援システムおよび操作装置の制御方法

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US20070021738A1 (en) * 2005-06-06 2007-01-25 Intuitive Surgical Inc. Laparoscopic ultrasound robotic surgical system
US20090048611A1 (en) * 1992-05-27 2009-02-19 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US7507199B2 (en) * 1996-02-20 2009-03-24 Intuitive Surgical, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US20100228265A1 (en) * 2009-03-09 2010-09-09 Intuitive Surgical, Inc. Operator Input Device for a Robotic Surgical System
US20110071543A1 (en) * 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula surgical system control

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US7507199B2 (en) * 1996-02-20 2009-03-24 Intuitive Surgical, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US20030013949A1 (en) * 1998-11-20 2003-01-16 Frederic H. Moll Cooperative minimally invasive telesurgical system
US20070021738A1 (en) * 2005-06-06 2007-01-25 Intuitive Surgical Inc. Laparoscopic ultrasound robotic surgical system
US20100228265A1 (en) * 2009-03-09 2010-09-09 Intuitive Surgical, Inc. Operator Input Device for a Robotic Surgical System
US20110071543A1 (en) * 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula surgical system control

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See also references of EP3142594A4 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108697475A (zh) * 2016-03-03 2018-10-23 柯惠Lp公司 能够围绕侧倾轴线大幅旋转的用于机器人手术系统的输入装置手柄
WO2018118391A1 (fr) * 2016-12-19 2018-06-28 Ethicon Llc Système chirurgical robotique avec découplage sélectif de commande de mouvement
US10251716B2 (en) 2016-12-19 2019-04-09 Ethicon Llc Robotic surgical system with selective motion control decoupling
EP3678574A4 (fr) * 2017-09-08 2021-10-06 Covidien LP Mode de commande d'instrument à haute précision pour systèmes chirurgicaux robotiques
US11717363B2 (en) 2017-09-08 2023-08-08 Covidien Lp High precision instrument control mode for robotic surgical systems
WO2019190792A1 (fr) * 2018-03-26 2019-10-03 Covidien Lp Ensembles de commande par télémentorat pour systèmes chirurgicaux robotiques

Also Published As

Publication number Publication date
AU2015259635B2 (en) 2019-04-18
US10743947B2 (en) 2020-08-18
JP2017525401A (ja) 2017-09-07
EP3142594B1 (fr) 2022-07-20
US20170071681A1 (en) 2017-03-16
US20200375673A1 (en) 2020-12-03
CA2947869C (fr) 2022-07-26
JP6567558B2 (ja) 2019-08-28
AU2015259635A1 (en) 2016-11-24
EP3973912A1 (fr) 2022-03-30
CN106456260B (zh) 2019-07-30
CN110236702A (zh) 2019-09-17
CN106456260A (zh) 2017-02-22
EP3142594A4 (fr) 2018-01-17
CN110236702B (zh) 2023-02-28
CA2947869A1 (fr) 2015-11-19
EP3142594A1 (fr) 2017-03-22
US11529202B2 (en) 2022-12-20

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